#ifndef __IMU_H
#define __IMU_H	 

#include "pid.h"
#include "posturecontrol.h"


extern float Roll_target ;
extern float Pitch_target;
extern float Yaw_target;

extern float yawOffset;


void AttitudeControl(float roll_set,float pitch_set,float yaw_set,GaitParams params, int paramID);
void gyroReset(void);



#endif
